We describe a method of feedback position control for an ensemble of robots
with unicycle kinematics under the constraint that every robot receives ex-
actly the same global control inputs. Each robot in the ensemble scales its
given control inputs by a bounded model parameter and thus may achieve a
turning rate and forward speed which are unique. Exploiting inhomogeneities
in robot execution of control inputs, we derive a globally asymptotically sta-
bilizing feedback control policy to regulate the position of each robot. This
policy scales linearly for any number of robots, and it stabilizes the system
asymptotically to the goal position even with Gaussian noise in actuation.
Computer simulations and hardware experiments are used to validate the pol-
icy. Additionally, we propose methods for trajectory tracking and obstacle
avoidance. Finally, we show an example of multi-robot object manipulation
and assembly.